Nonholonomic Robot Parking by Feedback -- Part I: Modular Strict CLF Designs

Abstract

It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally. We introduce a modular design framework that selects the forward velocity to decouple the radial coordinate, allowing the steering subsystem to be stabilized independently. Within this structure, we develop families of feedback laws using passivity, backstepping, and integrator forwarding. Each law is accompanied by a strict control Lyapunov function, including barrier variants that enforce angular constraints. These strict CLFs provide constructive class KL convergence estimates and enable eigenvalue assignment at the target equilibrium. The framework generalizes and extends prior modular and nonmodular approaches, while preparing the ground for inverse optimal and adaptive redesigns in the sequel paper.